CN106276617B - A kind of crane rotation braking early warning system and method - Google Patents
A kind of crane rotation braking early warning system and method Download PDFInfo
- Publication number
- CN106276617B CN106276617B CN201610763958.5A CN201610763958A CN106276617B CN 106276617 B CN106276617 B CN 106276617B CN 201610763958 A CN201610763958 A CN 201610763958A CN 106276617 B CN106276617 B CN 106276617B
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- braking
- display
- controller
- early warning
- crane
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B66—HOISTING; LIFTING; HAULING
- B66C—CRANES; LOAD-ENGAGING ELEMENTS OR DEVICES FOR CRANES, CAPSTANS, WINCHES, OR TACKLES
- B66C15/00—Safety gear
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Jib Cranes (AREA)
Abstract
The invention discloses a kind of crane rotation braking early warning system and method, including：Information collecting device, for gathering change angle, torque percentage, handle electric current, rotational speed, length of boom, lift heavy amount these lifting parameters；Controller, the lifting parameter for being gathered to information collecting device carry out logical operation process, implement the control strategy of rotary braking, and the positional information that revolution is finally stopped is sent to display；Display, status information, positional information for controlling lifting carry out real-time display.The present invention predicts under current motion state in advance for operator, the position that rotary braking stops, and is intuitively shown by display.Con trolling index and braking early warning are combined, the adjustment of Con trolling index and the prompting of application position have been taken into account, so as to ensure that ride comfort and security.And the final position of rotary braking is calculated according to suspension hook swing angle, it is not necessary to increase the electrical equipment of specialty, save resource, improve operating efficiency.
Description
Technical field
The present invention relates to technical field of crane control, more particularly to a kind of crane rotation braking early warning system and side
Method.
Background technology
With the continuous development of technology, crane is maximized to tonnage, complicatedization and intelligent control direction are sent out
Exhibition, lifting altitude, operation amplitude, lifting capacity etc. are increasing, thus stationarity to lifting and security gone out it is higher will
Ask.
At present, the research for the anti-sway problem of suspension hook focuses primarily upon trolley type jib, such as gantry crane, tower
Formula crane, and swing crane, such as autocrane, then without correlative study.The anti-sway mould of trolley type jib
Although operation of the algorithm of formula based on operator is intended to, still it is intended to operation incomplete same.Same crane is entering
When row revolution acts, rotary braking typically is realized by way of operation handle returns middle position by operator, during being somebody's turn to do, operation
The ride comfort of handle determines the ride comfort of revolution action.Yet with operator's operation handle unstability, can not ensure back
The ride comfort made is rotated, causes suspension hook and the swing of lift heavy thing in stopped process is turned round more serious, and swing can be to arm
A side force is produced, this can cause the infringement to vehicle structure, reduce the comfortableness and security of crane manipulation.In order to
Suspension hook is swung smaller when making rotary braking, then needs slowly to reduce rotational speed, but this can reduce the lifting efficiency of crane.
Existing immediate technical scheme is the method for crane working region border limitation, is specifically described as follows：
A. the writing task zone boundary by the way of self study.By with the turntable that turns right, hanging crane to the left
Arm goes to a certain angle of revolution in left side respectively and a certain angle of revolution in right side, controller record the two values, the side as revolution
Boundary definite value.When revolution will reach borders value, take early warning to slow down revolution and control.
B. by the way of display inputs boundary value.The i.e. artificial inputting interface by display, revolution is limited
Two boundary values inputted, and communicatively pass to Vehicle Controller, controller software is by judging boundary value
After validity, the turn state of arm is monitored in real time, carries out turning round border limitation.Process in whole control, not with the suspension hook amplitude of oscillation
For feedback information.
In the prior art, the either mode of self study or the mode on display input border, its result is all revolution
Boundary value be a definite value, practicality is poor；
Secondly, boundary value is only used for limiting angle of revolution, is not involved in other action controls, therefore for improving vehicle body action
Security in terms of, DeGrain；
Meanwhile boundary value is only a maximum revolution limitation, its whole turning course is by manual operation, therefore existing skill
Art can not improve lifting efficiency.
The content of the invention
In view of the drawbacks described above of prior art, the technical problems to be solved by the invention are to provide a kind of crane rotation
Early warning system and method are braked, to solve the deficiencies in the prior art.
To achieve the above object, the invention provides a kind of crane rotation to brake early warning system, it is characterised in that：Including
Information collecting device, controller and the display being sequentially connected, wherein：
Information collecting device, for gather change angle, torque percentage, handle electric current, rotational speed, length of boom,
These lifting parameters of lift heavy amount；
Controller, the lifting parameter for being gathered to information collecting device carry out logical operation process, implement rotary braking
Control strategy, and be sent to display by the positional information that is finally stopped is turned round；
Display, status information, positional information for controlling lifting carry out real-time display.
A kind of above-mentioned crane rotation braking early warning system, it is characterised in that：The controller is PLC vehicle-mounted controls
Device.
A kind of crane rotation brakes method for early warning, it is characterised in that comprises the following steps：
When carrying out revolution action, controller obtains Current vehicle control parameter in real time for S1, crane, and according to current ginseng
Numerical value converses crane rotation braking by logic and is finally stopped position, and positional information issues display by communication mode；
S2, controller are when detecting braking instruction, by control program based on making original of the suspension hook swing-scanning control in target
Then, converse rotary braking Con trolling index to carry out automatically controlling rotary braking, controller collection in real time in the process acts
Feedback information, turntable is set smoothly to be parked on final position；
S3, display receive corresponding revolution information, and real-time display is currently turned round according to pre-defined communications protocol
Braking under state is finally stopped position；
S4, operator can determine when to take rotary braking, controller touches according to the braking of operator according to stop position
Send instructions, it is automatic to perform rotary braking action.
The beneficial effects of the invention are as follows：
1. the present invention predicts under current motion state in advance for operator, the position that rotary braking stops, and by aobvious
Show that device is intuitively shown.
2. Con trolling index and braking early warning are combined by the present invention, adjustment and the application position of Con trolling index have been taken into account
Prompting, so as to ensure that ride comfort and security.
3. the present invention calculates the final position of rotary braking according to suspension hook swing angle, it is not necessary to increases the electric of specialty
Equipment, resource is saved, improve operating efficiency.
Design, concrete structure and the caused technique effect of the present invention are described further below with reference to accompanying drawing, with
It is fully understood from the purpose of the present invention, feature and effect.
Brief description of the drawings
Fig. 1 is the structured flowchart of the present invention.
Fig. 2 is the implementing procedure figure of the present invention.
Embodiment
A kind of as shown in figure 1, crane rotation braking early warning system, it is characterised in that：Information including being sequentially connected is adopted
Acquisition means, controller and display, wherein：
Information collecting device, for gather change angle, torque percentage, handle electric current, rotational speed, length of boom,
These lifting parameters of lift heavy amount；
Controller, the lifting parameter for being gathered to information collecting device carry out logical operation process, implement rotary braking
Control strategy, and be sent to display by the positional information that is finally stopped is turned round；
Display, status information, positional information for controlling lifting carry out real-time display.
A kind of above-mentioned crane rotation braking early warning system, it is characterised in that：The controller is PLC vehicle-mounted controls
Device.
As shown in Fig. 2 a kind of crane rotation braking method for early warning, it is characterised in that comprise the following steps：
When carrying out revolution action, controller obtains Current vehicle control parameter in real time for S1, crane, and according to current ginseng
Numerical value converses crane rotation braking by logic and is finally stopped position, and positional information issues display by communication mode；
S2, controller are when detecting braking instruction, by control program based on making original of the suspension hook swing-scanning control in target
Then, converse rotary braking Con trolling index to carry out automatically controlling rotary braking, controller collection in real time in the process acts
Feedback information, turntable is set smoothly to be parked on final position；
S3, display receive corresponding revolution information, and real-time display is currently turned round according to pre-defined communications protocol
Braking under state is finally stopped position；
S4, operator can determine when to take rotary braking, controller touches according to the braking of operator according to stop position
Send instructions, it is automatic to perform rotary braking action.
The present invention, by reading crane parameter, by logical operation, is realized suspension hook amplitude of fluctuation control by controller
System is in target zone, and as the control purpose of rotary braking, and the suspension hook amplitude of oscillation is made under the current revolution shape of controller collection in real time
For feedback, control is optimal with this, makes braking procedure steady, suspension hook swing-scanning control is in target zone.It is real-time by display
Show current turn state is finally stopped position, when positional information meets the desired location of operator, only need to stop turning round
Operation, controller carry out rotary braking according to Con trolling index.
Preferred embodiment of the invention described in detail above.It should be appreciated that one of ordinary skill in the art without
Creative work can is needed to make many modifications and variations according to the design of the present invention.Therefore, all technologies in the art
Personnel are available by logical analysis, reasoning, or a limited experiment on the basis of existing technology under this invention's idea
Technical scheme, all should be in the protection domain being defined in the patent claims.
Claims (1)
1. a kind of crane rotation brakes method for early warning, it is characterised in that comprises the following steps：
When carrying out revolution action, controller obtains Current vehicle control parameter in real time for S1, crane, and according to current parameter value
Crane rotation braking is conversed by logic and is finally stopped position, positional information issues display by communication mode；
S2, controller, by control program based on principle of the suspension hook swing-scanning control in target is made, change when detecting braking instruction
Calculate rotary braking Con trolling index to carry out automatically controlling rotary braking, in the process the feedback letter of controller collection in real time action
Breath, makes turntable smoothly be parked on final position；
S3, display receive corresponding revolution information, and the current turn state of real-time display according to pre-defined communications protocol
Under braking be finally stopped position；
S4, operator can determine when to take rotary braking, controller refers to according to the braking of operator triggering according to stop position
Order, it is automatic to perform rotary braking action.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610763958.5A CN106276617B (en) | 2016-08-29 | 2016-08-29 | A kind of crane rotation braking early warning system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610763958.5A CN106276617B (en) | 2016-08-29 | 2016-08-29 | A kind of crane rotation braking early warning system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN106276617A CN106276617A (en) | 2017-01-04 |
| CN106276617B true CN106276617B (en) | 2018-01-16 |
Family
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| Application Number | Title | Priority Date | Filing Date |
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| CN201610763958.5A Active CN106276617B (en) | 2016-08-29 | 2016-08-29 | A kind of crane rotation braking early warning system and method |
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Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108383002A (en) * | 2018-05-25 | 2018-08-10 | 菏泽学院 | A kind of high pedestal jib crane cluster manipulation monitor system |
| CN113650685B (en) * | 2021-07-26 | 2022-11-29 | 上海三一重机股份有限公司 | Method and device for controlling rotation of working machine, electronic device, and storage medium |
| CN115506440A (en) * | 2022-08-26 | 2022-12-23 | 太原欧陆机电工程有限公司 | Intelligent protection system and method for out-of-rotation control and computer equipment |
Family Cites Families (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2001206673A (en) * | 2000-01-31 | 2001-07-31 | Sumitomo Constr Mach Co Ltd | Electric mobile crane |
| CN102107820A (en) * | 2011-03-08 | 2011-06-29 | 武汉理工大学 | Gyroscopic control system for tyre crane |
| CN102530725B (en) * | 2012-03-29 | 2014-07-02 | 苏州市思玛特电力科技有限公司 | Automobile crane anti-swing control technology |
| CN102642775B (en) * | 2012-05-23 | 2014-04-23 | 中建一局集团第三建筑有限公司 | Device and method for controlling slewing mechanism of tower crane |
| CN103264970B (en) * | 2013-06-04 | 2014-12-03 | 西安丰树电子科技发展有限公司 | Self-learning-based rotation control method for dangerous condition of tower crane |
| CN105347211B (en) * | 2015-11-17 | 2017-07-28 | 山东聊建集团有限公司 | Derrick crane panorama visible, controllable, intellectual monitoring and safeguarding integrated system |
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